Handling Constrained Optimization in Factor Graphs for Autonomous Navigation.
Barbara BazzanaTiziano GuadagninoGiorgio GrisettiPublished in: CoRR (2022)
Keyphrases
- constrained optimization
- autonomous navigation
- factor graphs
- graphical models
- mobile robot
- message passing
- dynamic environments
- belief propagation
- path planning
- approximate inference
- objective function
- latent variables
- penalty function
- ego motion
- markov random field
- probabilistic inference
- parameter learning
- exact inference
- image segmentation
- least squares
- pairwise
- markov networks
- graph cuts
- parameter estimation
- bit rate